Preprint
Sep 2026
RAF-VLA: Representation Alignment with the Future for End-to-End Autonomous Driving
Recent Vision-Language-Action (VLA) models for autonomous driving have incorporated world modeling by predicting future driving scenes alongside driving actions, demonstrating strong planning performance. Future driving scenes are utilized as dense supervision, encouraging the policy to learn rich internal representati...
Dogun Kim, Y. Lee, Joonhee Lim et al.
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